CN108773434A - Support system and AGV - Google Patents
Support system and AGV Download PDFInfo
- Publication number
- CN108773434A CN108773434A CN201810668115.6A CN201810668115A CN108773434A CN 108773434 A CN108773434 A CN 108773434A CN 201810668115 A CN201810668115 A CN 201810668115A CN 108773434 A CN108773434 A CN 108773434A
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- China
- Prior art keywords
- crank
- connecting rod
- body structure
- supporting mechanism
- support
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/04—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting mechanically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Transmission Devices (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of support system and AGV, wherein support system includes the first supporting mechanism, second supporting mechanism and driving unit, first supporting mechanism includes being rotatablely installed in the first crank on body structure, it the first connecting rod that is rotatablely connected with the free end of the first crank and is rotatablely connected with the free end of first connecting rod and slides up and down the first sliding support connecting with body mechanism, second supporting mechanism includes being rotatablely installed in the second crank on body structure, it is rotatablely connected with the second connecting rod of the rotation connection of the second crank and with second connecting rod and slides up and down the second sliding support connecting with body mechanism, the second output terminal that driving unit is drivingly connected the first output end at the first crank and first connecting rod rotation connection and is drivingly connected at the second crank and second connecting rod rotation connection.The support system of the present invention can shake to avoid body structure.
Description
Technical field
The invention belongs to unmanned transport vehicle technical field more particularly to a kind of support system and using the support system
AGV。
Background technology
AGV (Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, AGV is generally comprised for loading
The body structure of cargo and it is installed on the wheel that body structure bottom is used to support body structure, is loading cargo or by cargo
When being unloaded from body structure, body structure is susceptible to shaking.
Invention content
The purpose of the present invention is to provide a kind of support systems, it is intended to solve body structure in the prior art and be easy shaking
Technical problem.
The invention is realized in this way a kind of support system, is used to support body structure, support system includes,
First supporting mechanism, the first supporting mechanism are fixed on body mechanism, the first supporting mechanism include rotational installation in
The first crank on body structure, the freedom with the first connecting rod of the free end rotation connection of the first crank and with first connecting rod
End is rotatablely connected and is slided up and down with body mechanism the first sliding support connecting, and the first crank, first connecting rod and first are slided
Height where dynamic support element reduces successively, and the first crank and the height at body structure rotation connection are higher than the first crank and the
The height of one link rotatable junction；
Second supporting mechanism, the second supporting mechanism are fixed on body structure and are installed with the first supporting mechanism spacing, the
Two supporting mechanisms include being rotatablely installed in the second crank on body structure, second with the free end rotation connection of the second crank
It connecting rod and is rotatablely connected with the free end of second connecting rod and slides up and down the second sliding support connecting with body mechanism, the
Height where two cranks, second connecting rod and the second sliding support reduces successively, and the second crank is rotatablely connected with body structure
The height at place is higher than the second crank and the height at second connecting rod rotation connection；
Driving unit, driving unit are connected between the first supporting mechanism and the second supporting mechanism, and driving unit includes turning
The first output end and the second crank of drive connection or second connecting rod and output driving of the first crank of dynamic connection or first connecting rod
The second output terminal of power, the first crank and the angled setting of vertical line, one end with first connecting rod rotation connection of the first crank
Relative to the other end close to driving unit, the second crank and the angled setting of vertical line, the second crank is rotated with second connecting rod
One end of connection is relative to the other end close to driving unit.
Further, the second crank includes the ontology being rotatablely connected with second connecting rod and the extension that is wholely set with ontology
Portion, the second crank are rotatablely connected in ontology and extension intersection with body structure, and the height where extension and ontology is successively
Reduce, support system further include one end be rotatablely connected with the first crank and the free end of the other end and extension be rotatablely connected it is same
Connecting rod is walked, synchronising (connecting) rod is fixedly connected on the position between the both ends of the first crank.
Further, the first sliding support includes that the first sliding part connecting is slided up and down with body structure, and first slides
The top in dynamic portion is rotatablely connected with first connecting rod.
Further, the first supporting mechanism further includes being fixed on body structure and being oriented to the of cooperation with the first sliding part
One guide part and the first foot pad being fixedly connected with the bottom end of the first sliding part, the first guide part offer and the first sliding part
It is oriented to the first pilot hole of cooperation, the first pilot hole is opened up along a vertical line, and the first foot pad includes for coordinating with ground supports
The first supporting surface.
Further, the second sliding support includes that the second sliding part connecting is slided up and down with body structure, and second slides
The top in dynamic portion is rotatablely connected with second connecting rod.
Further, the second supporting mechanism further includes being fixed on body structure and being oriented to the of cooperation with the second sliding part
Two guide parts and the second foot pad being fixedly connected with the bottom end of the second sliding part, the second guide part offer and the second sliding part
It is oriented to the second pilot hole of cooperation, the second pilot hole is opened up along a vertical line, and the second foot pad includes for coordinating with ground supports
The second supporting surface.
Further, driving unit includes the electric cylinders for stretching to the second supporting mechanism, and electric cylinders include cylinder ontology, are fixed on cylinder sheet
Fixing axle on body and the drive shaft with the cooperation of cylinder ontology sliding extension to drive the second supporting mechanism to move, fixing axle have
It is rotatablely connected the first output end of the first crank or first connecting rod, drive shaft, which has, is drivingly connected the second crank or second connecting rod
Second output terminal.
The present invention also provides a kind of AGV, including body structure and at least two above-mentioned support systems, two support systems are solid
Due on body structure.
Further, AGV further includes the fixed signal controller being connect on body mechanism and with two support system signals,
Signal controller is connect with the driving unit signal in two support systems.
Further, AGV further includes the idler wheel for being fixed on body structure bottom.
The present invention having the technical effect that compared with the existing technology：When AGV rests on picking place, the second of driving unit
Output end is to the second supporting mechanism output driving power (specifically, the driving force be thrust) so that the second crank and second connecting rod
It is moved to the direction far from driving unit, at the same time, the second crank or second connecting rod can generate second output terminal one instead
To active force, which can push driving unit to move and make driving unit close to the first supporting mechanism, herein mistake
Cheng Zhong, as driving unit is close to the first supporting mechanism, the first output end pushes the first crank and first connecting rod to far from driving
The direction of unit moves.Specifically, second output terminal makes at the rotation connection of the second crank and second connecting rod to far from driving
The direction of unit moves, in the process, since the second crank and body structure are rotatablely connected, the second crank is with vehicle body
Structure rotates for bearing, and the second crank and the height at body structure rotation connection are constant always, and the second crank and vehicle body
Height at the rotation connection of structure higher than the second crank and the height at second connecting rod rotation connection, therefore the second crank with the
The end of two link rotatable junctions to when movement far from driving unit with the component moved downward, and then the second crank
Second connecting rod can be driven to move, and the movement of second connecting rod also has the component that moves downward, and due to second connecting rod and the
Two sliding supports are rotatablely connected, and the second sliding support is slided up and down with body structure to be connect, and therefore, the second crank can pass through
Second connecting rod drives the second sliding support along linear downward motion, until the second sliding support supports cooperation to prop up with ground
Body structure is supportted, similarly, the first output end also can drive the first sliding support to move downward by a crank and first connecting rod,
Also the first sliding support can be made to support cooperation with ground to support body structure.In this way, even if transfer robot load or
The outer force effect that horizontal direction can be generated when removing cargo to body structure, since the first sliding support and second slidably support
Supporting role of the part to body structure, body mechanism will not shake.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the embodiment of the present invention or the prior art
Attached drawing needed in description is briefly described, it should be apparent that, drawings described below is only the present invention's
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the stereogram of AGV provided in an embodiment of the present invention.
Fig. 2 is the left view of Fig. 1.
Reference sign：
| 100 | AGV | 33 | Ontology | |
| 10 | Body structure | 34 | Extension | |
| 11 | Idler wheel | 35 | Second connecting rod | |
| 20 | Support system | 36 | Second sliding support | |
| 21 | First supporting mechanism | 37 | Second sliding part | |
| 22 | First crank | 38 | Second foot pad | |
| 23 | First connecting rod | 39 | Second guide part | |
| 24 | First sliding support | 41 | Driving unit | |
| 25 | First sliding part | 42 | Fixing axle | |
| 26 | First foot pad | 43 | First output end | |
| 27 | First guide part | 44 | Drive shaft | |
| 31 | Second supporting mechanism | 45 | Second output terminal | |
| 32 | Second crank | 51 | Synchronising (connecting) rod |
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it should be noted that when element is referred to as " being fixed on " or " being set to " another yuan
Part, it directly on another element or can be connected on another element.It is known as and " connects when an element
In " another element, it can be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on ... shown in the drawings or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, not indicating or implying the indicated device or element must have
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
For the ordinary skill in the art, it can understand above-mentioned term in the present invention as the case may be
Concrete meaning.
It should also be noted that, in the embodiment of the present invention, defined according to the XYZ rectangular coordinate systems established in Fig. 1：It is located at
The side of X-axis negative direction is defined as front, and rear is defined as positioned at the side of X-axis positive direction；It is fixed positioned at the side of Y-axis negative direction
Justice is left, and right is defined as positioned at the side of Y-axis positive direction；It is defined as top positioned at the side of Z axis positive direction, is located at Z axis
The side of negative direction is defined as lower section.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.
Such as Fig. 1 and as indicated with 2, the present invention provides a kind of support system 20, is used to support body structure, and support system 20 is wrapped
Include the first supporting mechanism 21, the second supporting mechanism 31 and driving unit 41.
First supporting mechanism 21 is fixed on body mechanism, and the first supporting mechanism 21 includes rotational installation on body structure
The first crank 22, the first connecting rod 23 that is rotatablely connected with the free end of the first crank 22 and the free end with first connecting rod 23
It is rotatablely connected and simultaneously slides up and down the first sliding support 24 connecting with body mechanism, the first crank 22, first connecting rod 23 and the
Height where one sliding support 24 reduces successively, and the first crank 22 is higher than first with the height at body structure rotation connection
Crank 22 and the height at 23 rotation connection of first connecting rod.
Second supporting mechanism 31 is fixed on body structure and is installed with 21 spacing of the first supporting mechanism, the second supporting mechanism
31 include the second connecting rod that rotational installation is rotatablely connected in the free end of the second crank 32 and the second crank 32 on body structure
35 and the second sliding support 36 connecting is rotatablely connected and slided up and down with body mechanism with the free end of second connecting rod 35,
Height where second crank 32, second connecting rod 35 and the second sliding support 36 reduces successively, the second crank 32 and vehicle body knot
Height at structure rotation connection is higher than the second crank 32 and the height at 35 rotation connection of second connecting rod.
Driving unit 41 is connected between the first supporting mechanism 21 and the second supporting mechanism 31, and driving unit 41 includes rotation
Connect the first output end 43 of the first crank 22 or first connecting rod 23 and be drivingly connected the second crank 32 or second connecting rod 35 and
The second output terminal 45 of output driving power, the first crank 22 and the angled setting of vertical line, the first crank 22 and first connecting rod
One end of 23 rotation connections relative to the other end close to driving unit 41, the second crank 32 and the angled setting of vertical line, second
The one end of crank 32 being rotatablely connected with second connecting rod 35 is relative to the other end close to driving unit 41.
AGV is generally used for delivery cargo, including body structure and the wheel that is connect with body structure bottom, and when work is general
It is that support is played the role of by wheel, generally has transfer robot matched in picking place and landing place, by removing
Cargo is carried and is loaded on body structure or from body structure and removes cargo by fortune robot, and transfer robot is freighted
Or when picking, do not ensure that cargo is entirely by vertically loading or removing, in this process, body structure can be by
The outer force effect of horizontal direction, but since body structure only relies on wheel supporting effect, under the outer force effect, body structure holds
Easily shake.
In this embodiment, when AGV rests on picking place, the second output terminal 45 of driving unit 41 is supported to second
31 output driving power of mechanism (specifically, which is thrust) so that the second crank 32 and second connecting rod 35 are to far from driving
The direction of unit 41 moves, and at the same time, the second crank 32 or second connecting rod 35 can generate second output terminal 45 one reversely
Active force, the opposition can push driving unit 41 to move and make driving unit 41 close to the first supporting mechanism 21,
During this, as driving unit 41 is close to the first supporting mechanism 21, the first output end 43 pushes the first crank 22 and first to connect
Bar 23 is moved to the direction far from driving unit 41.
Specifically, second output terminal 45 is so that the second crank 32 drives list at the rotation connection of second connecting rod 35 to separate
The direction movement of member 41, in the process, since the second crank 32 and body structure are rotatablely connected, the second crank 32 with
Body structure rotates for bearing, and the second crank 32 and the height at body structure rotation connection are constant always, and the second crank
32 with the height at the rotation connection of body structure higher than the second crank 32 and the height at 35 rotation connection of second connecting rod, therefore the
Having when to the movement of separate driving unit 41 with the end at 35 rotation connection of second connecting rod for two cranks 32 moves downward
Component, and then the second crank 32 can drive second connecting rod 35 move, and the movement of second connecting rod 35 also have move downward
Component, and since second connecting rod 35 and the second sliding support 36 are rotatablely connected, the second sliding support 36 and body structure
Connection is slided up and down, therefore, the second crank 32 can drive the second sliding support 36 to be transported downwards along straight line by second connecting rod 35
It is dynamic, until the second sliding support 36 supports cooperation to support body structure with ground.
Similarly, the first output end also can drive the first sliding support 24 to move downward by a crank and first connecting rod,
Also the first sliding support can be made to support cooperation with ground to support body structure.In this way, even if transfer robot load or
The outer force effect that horizontal direction can be generated when removing cargo to body structure, since the first sliding support 24 and second slides branch
Supporting role of the support member 36 to body structure, body mechanism will not shake.
In this embodiment, driving unit 41 drives the first crank 22, first connecting rod 23 and the first sliding support 24
Movement, when the first crank 22 and pivot center, first connecting rod 23 and the first sliding support at 23 rotation connection of first connecting rod
When the pivot center at pivot center and the first crank 22 and body structure rotation connection at 24 rotation connections is coplanar, first
Supporting mechanism 21 can complete self-locking, even if driving unit 41 stops the output of driving force, the first supporting mechanism 21 still can
It plays a supporting role to body structure, the energy consumption of driving unit 41 can be saved.Similarly it is found that the second supporting mechanism 31 also can be certainly
Lock, can also save the energy consumption of driving unit 41.
In this embodiment, support system 20 is compact-sized, without occupying larger installation space, and support system 20
Precise structure, first connecting rod 23 and the first sliding support 24 and the cooperation of the first crank 22 have amplification to driving force,
Similarly, second connecting rod 35 and the cooperation of the second sliding support 36 and the second crank 32 have amplification to driving force, therefore,
The support force that support system 20 exports is big and stablizes, the smaller driving force of driving unit 41 can support body structure and
Load on body structure can be played the role of reducing energy consumption.
In this embodiment, during the first sliding support 24 and the second sliding support 36 earthward move,
Electric cylinders are moved upwards relative to ground.
Further, the second crank 32 includes the ontology 33 being rotatablely connected with second connecting rod 35 and is wholely set with ontology 33
Extension 34, the second crank 32 is rotatablely connected in ontology 33 and 34 intersection of extension and body structure, extension 34 and this
Height where body 33 reduces successively, and support system 20 further includes one end and the rotation connection of the first crank 22 and the other end and extension
The synchronising (connecting) rod 51 of the free end rotation connection in portion 34, synchronising (connecting) rod 51 are fixedly connected on the position between the both ends of the first crank 22
It sets.
In this embodiment, driving unit 41 drives the first crank 22 and when the second crank 32 there may be the time difference, by
It is rotatablely connected in one end of synchronising (connecting) rod 51 and the first crank 22 and the free end of the other end and extension 34 is rotatablely connected, it is synchronous
Connecting rod 51 is fixedly connected on the position between 22 both ends of the first crank, therefore, the first crank 22 with the end of first connecting rod 23 to
When being moved far from driving unit 41, active force is transferred to the free end of extension 34 simultaneously by the first crank 22 by synchronising (connecting) rod 51
The free end of extension 34 is driven to be moved to close to the direction of driving unit 41, the second crank 32 is using body structure as bearing at this time
Rotation, since the second crank 32 is rotatablely connected in ontology 33 and 34 intersection of extension and body structure, and extension 34 and this
Height where body 33 reduces successively, therefore the direction of motion of ontology 33 and extension 34 is on the contrary, specifically, ontology 33 is to far from drive
The direction of moving cell 41 moves, and ontology 33 is moved to the direction far from driving unit 41 to drive second to slide by second connecting rod 35
Dynamic support element 36 is moved downward with 24 synchronous linear of the first sliding support, can be to avoid due to the first sliding support 24 and the
Two sliding supports 36 move the body structure caused by difference and lift jiggly problem.
Further, the first sliding support 24 includes that the first sliding part 25 connecting is slided up and down with body structure, the
The top of one sliding part 25 is rotatablely connected with first connecting rod 23.In this embodiment, the first sliding part 25 is above and below body structure
Sliding, can complete the lifting of body structure.
Further, the first supporting mechanism 21 further includes being fixed on body structure and being oriented to the first sliding part 25 to coordinate
The first guide part 27 and the first foot pad 26 for being fixedly connected with the bottom end of the first sliding part 25, the first guide part 27 offer
The first pilot hole of cooperation is oriented to the first sliding part 25, the first pilot hole is opened up along a vertical line, and the first foot pad 26 includes using
In the first supporting surface coordinated with ground supports.
In this embodiment, the first sliding part 25 and the first guide part 27, which are oriented to, coordinates, the first guide part 27 offer with
First sliding part 25 is oriented to the first pilot hole of cooperation, and the first pilot hole is opened up along a vertical line so that body structure upper edge is straight
Line rises or falls, and can improve stationarity in body structure process of rising or falling, ensures that body structure is rising or falling
It will not swing in the process.
Further, the second sliding support 36 includes that the second sliding part 37 connecting is slided up and down with body structure, the
The top of two sliding parts 37 is rotatablely connected with second connecting rod 35.In this embodiment, the second sliding part 37 is above and below body structure
Sliding, can complete the lifting of body structure.
Further, the second supporting mechanism 31 further includes being fixed on body structure and being oriented to the second sliding part 37 to coordinate
The second guide part 39 and the second foot pad 38 for being fixedly connected with the bottom end of the second sliding part 37, the second guide part 39 offer
The second pilot hole of cooperation is oriented to the second sliding part 37, the second pilot hole is opened up along a vertical line, and the second foot pad 38 includes using
In the second supporting surface coordinated with ground supports.
In this embodiment, the second sliding part 37 and the second guide part 39, which are oriented to, coordinates, the second guide part 39 offer with
Second sliding part 37 is oriented to the second pilot hole of cooperation, and the second pilot hole is opened up along a vertical line so that body structure upper edge is straight
Line rises or falls, and can improve stationarity in body structure process of rising or falling, ensures that body structure is rising or falling
It will not swing in the process.
Further, driving unit 41 includes the electric cylinders for stretching to the second supporting mechanism 31, and electric cylinders include that cylinder ontology (do not mark by figure
Number), the fixing axle 42 that is fixed on cylinder ontology and coordinate to drive the drive of the second supporting mechanism 36 with cylinder ontology sliding extension
There is the first output end 43 of the first crank 22 of rotation connection or first connecting rod 23, drive shaft 44 to have for moving axis 44, fixing axle 42
It is drivingly connected the second output terminal 45 of the second crank 32 or second connecting rod 35.
In this embodiment, electric cylinders driving drive shaft 44 is slided relative to cylinder ontology stretches out, the second output of drive shaft 44
End 45 coordinates with the second driving of supporting mechanism 31 so that the second crank 32 and second connecting rod 35 are to the direction of separate driving unit 41
Movement, the second crank 32 and second sliding support of the driving of second connecting rod 35 36 support cooperation to support body mechanism with ground.
At the same time, the second supporting mechanism 31 can generate an opposition to second output terminal 45, which acts on
In electric cylinders so that cylinder ontology and the fixing axle 42 being fixed on cylinder ontology are transported to close to the direction of the first supporting mechanism 21
Dynamic, in the process, as cylinder ontology is close to the first supporting mechanism 21, the first output end 43 of fixing axle 42 pushes the first crank
22 and first connecting rod 23 move to the direction far from driving unit 41, the first crank 22 and first sliding of the driving of first connecting rod 23 are propped up
Support member 24 supports cooperation to support body structure with ground.
In this embodiment, during the first sliding support 24 and the second sliding support 36 earthward move,
Electric cylinders are moved upwards relative to ground.
In this embodiment, drive shaft 44 drives the second crank 32 to move so that the second supporting mechanism 31 drives body structure
Lifting, the first crank 22 is driven to move for fixing axle 42 so that the drive body structure lifting of the first supporting mechanism 21, is driven using electric cylinders
Dynamic first supporting mechanism 21 and the second supporting mechanism 31 can reduce the cost of driving unit 41, and extend driving unit
41 service life.
Electric cylinders directly can simplify the structure of support system 20 by electric drive without gas supply and arrangement oil hydraulic circuit,
Reduce the size of installation space shared by support system 20.
Another embodiment of the present invention also provides a kind of AGV100, including body structure 10 and at least two above-mentioned support systems
20, two support systems 20 are fixed on body structure 10.
Further, AGV100 further includes the fixed signal control being connect on body mechanism and with two support systems, 20 signal
Device processed, signal controller are connect with 41 signal of driving unit in two support systems 20.
In this embodiment, signal controller sends position command to two driving units 41 simultaneously, two driving units 41
Synchronous averaging, two driving units 41 can quickly, timely respond to the instruction of signal controller, realize that two support systems 20 synchronize fortune
It is dynamic.
Further, AGV100 further includes the idler wheel 11 for being fixed on 10 bottom of body structure.In this embodiment, idler wheel 11
Play the role of rolling and support.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of support system, is used to support body structure, which is characterized in that the support system includes,
First supporting mechanism, first supporting mechanism are fixed on the body mechanism, and first supporting mechanism includes turning
Dynamic the first crank being installed on the body structure, the first connecting rod being rotatablely connected with the free end of first crank and
It is rotatablely connected with the free end of the first connecting rod and slides up and down the first sliding support connecting, institute with the body mechanism
Height where stating the first crank, the first connecting rod and first sliding support reduces successively, first crank with
Height at the body structure rotation connection is higher than first crank and the height at the first connecting rod rotation connection；
Second supporting mechanism, second supporting mechanism be fixed on the body structure and with the first supporting mechanism spacing
Installation, second supporting mechanism include be rotatablely installed on the body structure the second crank, with second crank
The second connecting rod of free end rotation connection and with the rotation connection of the free end of the second connecting rod and on the body mechanism
Second sliding support of lower slider connection, second crank, the second connecting rod and second sliding support place
Height reduce successively, the height at second crank and the body structure rotation connection is higher than second crank and institute
State the height at second connecting rod rotation connection；
Driving unit, the driving unit are connected between first supporting mechanism and second supporting mechanism, the drive
Moving cell includes the first output end and drive connection described second for being rotatablely connected first crank or the first connecting rod
The second output terminal of crank or the second connecting rod and output driving power, first crank and the angled setting of vertical line, institute
One end being rotatablely connected with the first connecting rod of the first crank is stated relative to the other end close to the driving unit, described second
Crank and the angled setting of vertical line, the one end of second crank being rotatablely connected with the second connecting rod is relative to the other end
Close to the driving unit.
2. support system as described in claim 1, which is characterized in that second crank includes being rotated with the second connecting rod
The ontology of connection and the extension being wholely set with the ontology, second crank cross in the ontology and the extension
Place is rotatablely connected with the body structure, and the height where the extension and the ontology reduces successively, the support system
It further include the synchronous company that one end is rotatablely connected with first crank and the free end of the other end and the extension is rotatablely connected
Bar, the synchronising (connecting) rod are fixedly connected on the position between the both ends of first crank.
3. support system as claimed in claim 1 or 2, which is characterized in that first sliding support includes and the vehicle
Body structure slides up and down the first sliding part of connection, and top and the first connecting rod of first sliding part are rotatablely connected.
4. support system as claimed in claim 3, which is characterized in that first supporting mechanism further includes being fixed on the vehicle
It is oriented to the first guide part of cooperation on body structure and with first sliding part and is fixed with the bottom end of first sliding part
First foot pad of connection, first guide part offers the first pilot hole that cooperation is oriented to first sliding part, described
First pilot hole is opened up along a vertical line, and first foot pad includes the first supporting surface for coordinating with ground supports.
5. support system as claimed in claim 1 or 2, which is characterized in that second sliding support includes and the vehicle
Body structure slides up and down the second sliding part of connection, and top and the second connecting rod of second sliding part are rotatablely connected.
6. support system as claimed in claim 5, which is characterized in that second supporting mechanism further includes being fixed on the vehicle
It is oriented to the second guide part of cooperation on body structure and with second sliding part and is fixed with the bottom end of second sliding part
Second foot pad of connection, second guide part offers the second pilot hole that cooperation is oriented to second sliding part, described
Second pilot hole is opened up along a vertical line, and second foot pad includes the second supporting surface for coordinating with ground supports.
7. support system as claimed in claim 1 or 2, which is characterized in that the driving unit includes stretching to described second
The electric cylinders of support mechanism, the electric cylinders include cylinder ontology, the fixing axle that is fixed on the cylinder ontology and are slided with the cylinder ontology
For dynamic expansion fit to drive the drive shaft of the second supporting mechanism movement, the fixing axle, which has, is rotatablely connected first song
First output end of handle or the first connecting rod, the drive shaft, which has, is drivingly connected second crank or described second
The second output terminal of connecting rod.
8. a kind of AGV, which is characterized in that propped up as claimed in any of claims 1 to 7 in one of claims at least two including body structure
Support system, two support systems are fixed on the body structure.
9. AGV as claimed in claim 8, which is characterized in that the AGV further include it is fixed on body mechanism and with described in two
The signal controller of support system signal connection, the driving unit in the signal controller and two support systems are believed
Number connection.
10. AGV as claimed in claim 8 or 9, which is characterized in that the AGV further includes being fixed on the body structure bottom
Idler wheel.
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| CN201810668115.6A CN108773434B (en) | 2018-06-26 | 2018-06-26 | Support system and AGV |
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| CN201810668115.6A CN108773434B (en) | 2018-06-26 | 2018-06-26 | Support system and AGV |
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| CN108773434B CN108773434B (en) | 2023-05-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109435917A (en) * | 2018-12-01 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of mobile robot automatic locking apparatus in place |
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Also Published As
| Publication number | Publication date |
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| CN108773434B (en) | 2023-05-12 |
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